Biology-inspired miniature system and method for sensing and localizing acoustic signals
A system and method for sensing acoustic sounds is provided having at least one directional sensor, each directional sensor including at least two compliant membranes for moving in reaction to an excitation acoustic signal and at least one compliant bridge. Each bridge is coupled to at least a respective first and second membrane of the at least two membranes for moving in response to movement of the membranes it is coupled to for causing movement of the first membrane to be related to movement of the second membrane when either of the first and second membranes moves in response to excitation by the excitation signal. The directional sensor is controllably rotated to locate a source of the excitation signal, including determining a turning angle based on a linear relationship between the directionality information and sound source position described in experimentally calibrated data.
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The present application claims priority under 35 U.S.C. §119(e) from a United States provisional application filed on Mar. 12, 2010 titled “Fly-Ear Inspired Miniature Acoustic Sensor System” and assigned U.S. Provisional Application Ser. No. 61/313,461, the entire contents of which are incorporated herein by reference.
STATEMENT REGARDING FEDERALLY SPONSORED RESEARCHThe invention described herein was made with government support under contract FA95500810042 awarded by the Air Force Office of Scientific Research (AFOSR) and contract CMMI0644914 awarded by the National Science Foundation (NSF). The government has certain rights in the invention described herein.
PUBLISHED WORKS INCORPORATED HEREIN BY REFERENCEThe following published two works describe inventive concepts attributed to the inventors of the present application, Miao Yu and Haijun Liu. The published works and their described inventive concepts are all incorporated herein by reference.
The present application is directed to subject matter described in L. J. Curran, H. Liu, D. Gee, B. Yang, and M. Yu, Microscale Implementation of a Bio-Inspired Acoustic Localization Device, Proceedings of SPIE, Vol. 7321, p. 73210B (2009), the entire contents of which are incorporated herein by reference.
The present application is also directed to subject matter described in H. J. Liu, M. Yu, L. Curran, and D. Gee, Fly-ear Inspired Miniature Directional Microphones: Modeling and Experimental Study, IMECE2009 (2009), the entire contents of which are incorporated herein by reference.
BACKGROUNDThe present disclosure relates generally to a miniature system for sensing and localizing acoustic signals. In particular, the present disclosure relates to a miniature system for sensing and localizing acoustic signals inspired by the directional hearing of the fly Ormia ochracea.
The fly Ormia ochracea is a parasitoid insect that acoustically locates male field crickets by listening to their calling song at 5 kHz. The female fly, as part of her reproductive cycle, finds cricket hosts as a source of food for her larval offspring. With a separation of only 0.52 mm between auditory organs, less than 1/130 of the calling song sound wavelength, the best available interaural time difference (ITD) and interaural intensity difference (IID) are merely 1.5 μs and less than 1 dB, respectively. However, the fly has super-acute hearing for detecting sounds and localizing sound sources in the absence of visual and olfactory cues. See Robert, Innovative Biomechanics for Directional Hearing in Small Flies, Biol. Bull, 200: 190-94 (April 2001). The key to the fly's phenomenal directional hearing is that its auditory system includes a pair of tympanal membranes that are coupled by an intertympanal bridge, a cuticular structure that pivots about its middle. See R N Miles et al., Mechanically Coupled Ears For Directional Hearing in the Parasitoid Fly Ormia Ochracea, Journal of the Acoustical Society of America, 98(6):3059-3070 (1995).]
As a result of the mechanical coupling, the fly's auditory system operates in a rocking mode in which the tympanal membranes move 180 degrees out of phase, and a bending mode in which the tympanal membranes move in phase. Owing to a suitable contribution from both modes, the fly ear can provide great amplification to minute directional cues from the acoustic inputs so that the magnitude of directional cues at the mechanical response level becomes detectable by the fly's neuron system. The mechanical interaural time difference (mITD) and mechanical interaural intensity difference (mIID) between the eardrum responses are as high as 50-60 μs and 12 dB, respectively.
During the localization process, the fly turns its head front (azimuth θ=0) towards the sound source. The turning speed has been found to be a sigmoid function of azimuth, where the turning speed is a linear function of azimuth θ up to 20°-30°, and it is constant beyond this range. Here the azimuth is an angular measurement in a spherical coordinate system, which describes the angle between the midline (i.e., the vector starting from the midpoint between the centers of active portions of the two tympanal membranes and pointing in a direction that is perpendicular to the plane of the fly ear) of the fly ear and vector starting at the origin of the midline (i.e., the midpoint) and pointing to the sound source.
When the target is outside of the linear range, the fly performs laterization by only determining if the target is towards the left or right and makes a constant turn towards the target. Once the target is within the linear range, the fly performs localization by truly estimating the target position, and turning an appropriate amount of angle to let the midline of the ear point to the target. This laterization/localization scheme helps the fly to achieve an overall directional resolution as accurate as ±2° from the midline. See Mason et al., Hyperacute Directional Hearing in a Microscale Auditory System, Nature, 410 (6829):686-690 (2001).
SUMMARYThe present disclosure is directed to a sensing system having at least one directional sensor, each directional sensor including at least two compliant membranes for moving in reaction to an excitation acoustic signal and at least one compliant bridge. Each bridge is coupled to at least a respective first and second membrane of the at least two membranes for moving in response to movement of the membranes it is coupled to for causing movement of the first membrane to be related to movement of the second membrane when either of the first and second membranes moves in response to excitation by the excitation signal. The directional sensor is configured to provide dual optimality at a selected working frequency for achieving maximum directional sensitivity (DS) and minimum nonlinearity (NL), simultaneously, in the vicinity of a midline of between the at least two membranes.
The present disclosure is also directed to a method for sensing sound and determining directionality information about a location of a sound source of the sound. The method includes sensing an excitation acoustic signal by at least a first and second membrane which are sufficiently compliant to move in reaction to the excitation acoustic signal, vibrating by the at least first and second membranes in response to the sensing, vibrating by the at least first and second membranes in response to the sensing, and coupling the vibrations while pivoting about a fixed pivot area for causing vibrations of the first membrane to be related to vibrations of the second membrane when at least one of the first and second membranes senses the excitation sound signal. The method further includes sensing the vibrations of the first and second membranes, and comparing the sensed vibrations of the first and second membranes for determining directionality information about the location of a sound source of the excitation sound signal, including an angle that describes the location of the sound source relative to a reference.
The present disclosure is also directed to a directional sensor having a substrate that defines at least two cavities, first and second membranes and a compliant bridge. Each membrane has opposing top and bottom surfaces and is coupled to the substrate to cover a respective cavity of the at least two cavities and having at least a portion of its bottom surface exposed to the cavity. The first and second membranes are sufficiently compliant for moving in reaction to an excitation acoustic signal to move in reaction to the excitation signal, yet remain positioned to cover the associated cavity when reacting to the excitation signal. The bridge is coupled to the substrate at a pivot area positioned between the at least first and second membranes. The bridge is further coupled to the first and second membranes for moving in response to movement of either of the first and second membranes, including at least one of pivoting and bending about the pivot area, for causing movement of the first membrane to be related to movement of the second membrane when at least one of the first and second membranes moves in response to excitation by the excitation signal.
Other features of the presently disclosed directional sensor system will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which illustrate, by way of example, the presently disclosed directional sensor system.
Various embodiments of the present disclosure will be described below with reference to the figures, wherein:
Mechanical Structure of the Directional Sensor
Referring now to the drawing figures, in which like reference numerals identify identical or corresponding elements, the acoustic sensor system and method in accordance with the present disclosure will now be described in detail. With initial reference to
Directional sensor 102 includes a pair of membranes 104 that are mechanically coupled to one another by a bridge 106. Each of the respective membranes 104 is coupled at its outer boundary to a substrate 108. In the current example, the entire outer boundary of each membrane 104 is securely attached to the substrate 108 via adhesion between materials. Other methods, such as by clamping or affixing the membrane 104 to the substrate 108 can also be used. [.
The substrate 108 is provided with a pair of cavities 110 that are situated below and fully covered by each of the membranes 104, respectively so that a bottom surface 105 of each membrane 104 is exposed in the associated cavity 108. Each membrane 104 has an active area which is the portion of the membrane 104 whose bottom surface is exposed to the associated cavity 110. The active area vibrates when it is exposed to an excitation acoustical signal. The boundary area of each membrane 104 that is coupled to the substrate 108 is a non-active area of the membrane 104, wherein a non-active area is an area that does not vibrate, e.g., is not displaced and does not rotate, when the membrane 104 is excited.
The membranes 104 are formed of a thin film that is compliant so that the membrane 104 reacts to the excitation acoustic signal by vibrating. The compliance of the membrane is a measure of its ability to respond to an applied vibrating force (the excitation acoustic signal), which is a reciprocal of the stiffness of the membrane 104. Exemplary thin film materials include silicon, silicon dioxide, silicon nitride, parylene, polyimide, and acrylics (Polymethyl-Methacrylate (PMMA)). The responses of the membranes 104 to a sound stimulus are tailored by selecting appropriate material properties (e.g. Young's modulus, density) and geometric dimensions (e.g. thickness, radius) for the membranes 104.
The bridge 106 couples to the each membrane 104 via a first coupling member 101 positioned in the active area of the membrane 104. First coupling member 101 allows the reaction force or moment to be transmitted between the membrane 104 and the bridge 106.
The bridge 106 is coupled to the substrate 108 via second coupling member 107 and is further supported by second coupling member 107. Second coupling member 107 allows the bridge 106 to both pivot and transmit a bending moment about a point or an area larger than a point at which the second coupling member 107 is coupled to the substrate 108. The second coupling member 107 is coupled to the bridge 106 at a middle area of the bridge 106 between its two end points. In the example shown, the second coupling member 107 is coupled to bridge 106 at a mid-point between the two ends of the bridge 106, and the first coupling members 101 are coupled to the bridge 106 at its two ends. The membranes 104 may extend to the location where the second coupling member 107 couples to the substrate The membranes 104 may even overlap one another. In any of these cases, the second coupling member 107 is still securely coupled to the bridge 107, with the membranes 104 intervening in-between.
As shown in
The cavities 110 are enclosed in all directions. The enclosure is provided by substrate 108, backplate 112 which is located below substrate 108, and front and back plates that are not shown. The material forming substrate 108 and backplate 112 may include, for example, silicon dioxide, silicon nitride, parylene, polyimide, and acrylics. In one embodiment, as depicted in
In the embodiment shown in
The material forming bridge 106 can be the same as or different from the material forming membrane 104. Some examples of material forming the bridge include silicon dioxide, silicon nitride, parylene, polyimide, and acrylics. Bridge 106 may be formed of multiple layers of different materials, wherein additional layers of material decrease the compliance (and thus increase the reciprocal stiffness) of the bridge 106. The coupling strength can be determined by using the ratio of the bridge stiffness and membrane stiffness. The coupling strength can thus be tuned by controlling the material properties (e.g. Young's modulus) and geometric dimensions (e.g. thickness, width, and length) of the membranes 104 and the bridge 106. [ The compliance of bridge 106 combined with its mechanical coupling to membranes 104 allows the bridge 106 to be excited by movement of the membranes 104 (and may additionally be excited, but less so by the excitation signal when bridge 106 has greater stiffness than membranes 104) causing the bridge 106 to vibrate and move by pivoting or bending about the second coupling member 107. The motion of the bridge 106 affects the vibrations of the two membranes 104 so that the vibrations of the two membranes 104 are related to one another and are therefore not independent.
The vibrations are related to one another in a variety of modes, including a rocking mode, in which the two membranes 104 while coupled by bridge 106 move substantially 180 degrees out of phase relative to one another, and a bending mode, in which the two membranes 104 while coupled to by bridge 106 move substantially in phase. The working frequency fw of the directional sensor 102 is the frequency of excitation signals which can most accurately be detected and located. The range of working frequency, range fw, is the range of excitations signals that the directional sensor is expected to accurately operate in. frm is the resonance frequency of the excitation signal that causes the membranes to operate in the rocking mode. fbm is the resonance frequency of the excitation signal that causes the membranes to operate in the bending mode. frm and fbm are selected so that the predefined performance measures are optimized, including directional sensitivity and linearity. The damping factor of the directional sensor 102 influences the ratio of fw to each of fbm and frm.
fw and range fw are selected in accordance with the purpose of the directional sensor and the type of acoustic excitation signal and environment it is expected to work with accurately. It follows that frm, and fbm are selectable, based on fw and range fw as well as adjustable parameters of the directional sensor 102 that also affect the damping factors of the directional sensor 102.
One adjustable parameter, for example, is the stiffness of the membranes 104 and the bridge 106, which may be influenced by factors such as the thickness of the materials that the membranes 104 and bridge 106 are formed of, resistance to rotation about second coupling member 107, the diameter of the membranes 104, etc. For example, a thinner or larger membrane 104 will render a smaller stiffness of the membrane 104 as well as a smaller frm.
In one embodiment, a piezoelectric material (e.g., PZT) is applied, e.g., sputtered, on top of the bridge 106 or the membranes 104 to adjust their stiffness. Voltage may be applied to the sputtered piezoelectric material layer, which will generate strain which increases the stiffness of the bridge 106 or the membrane 104.
Another adjustable parameter is the depth of cavities 110 which can also affect the stiffness of the membranes 104; a smaller depth renders higher stiffness of membranes 104. It is envisioned that layers of material, such as silicon, may be added to the bottom of the cavities 110 to adjust the depth.
Still another adjustable parameter is the length of bridge 106, which is based on the distance between the centers of active portions of membranes 104. As the length of bridge 106 increases its stiffness decreased, thus lowering fbm. It is envisioned that the bridge 106 may be fashioned to be capable of expanding or collapsing, such as by adding or removing extensions at its ends. Directional sensor may also be tuned by adjusting the position at which first coupling means 101 couples to the associated membrane 104, e.g., by moving the position off-center. This can be performed in conjunction with adjusting the length of bridge 106.
Directional sensor 102 may further be tuned by adjusting the distance between the centers of the active portions of membranes 104. This too can be performed in conjunction with adjusting the length of bridge 106. It is envisioned that the substrate 108 may be formed so that the distance between the cavities is adjustable, e.g., by fashioning the portion of the substrate located in-between the cavities 110 and the backplate 112 to be capable of expanding or collapsing. For example, that portion of the substrate and backplate 112 may each be formed of two or more segments that may be moved closer or further apart. Any gap could be filled with material, covered with a cover, or left open. The movement of the segments could be motorized, and the motorization could be controlled by controller 142. Accordingly, the directional sensor 102 can be tuned for use with different frequencies fw, by selecting frm and fbm by adjusting the parameters.
The structure of the directional sensor 102 shown in exemplary
Optical Detection Method
An exemplary acoustic sensor system 100 is shown in
A distal tip 321 of each of the optical fiber cables 320 is positioned within one of the cavities 110 so that it opposes the membrane 104 that is positioned above the associated cavity 110. The distal tip 321 and the opposing membrane 104 form a Fabry-Perot interferometer (FPI) 322, described in greater detail further below. Light reflected from each FPI 322 is coupled via couplers 318 to tunable filter 326 and then to photo detector 328. The output from the photo detector 328 is input to oscilloscope 330 or the DAQ board for display and/or data analysis.
Thus,
Each of the optical fiber cables 320 are supported by the backplate 112 with a through-hole by which each of the optical fiber cables 320 is guided and fixed in position. Backplate 112 may be an integral part of the substrate 108 or may be a separate unit, such as a wafer, mechanically coupled to the substrate 108. The fiber optic cables 320 may be permanently fixed in the backplate 112, such as by using ultraviolet-cured epoxy glue. Alternatively, the fiber optic cables 320 may be adjustably fixed within the fiber guider 140, such as by a clamping mechanism, so that the length of the sensing cavity Ls, which is the distance between the distal tips 321 and the membranes 104, is adjustable, e.g., according to the coherence length of the light source 314
The light directed via each of the optical fiber cables 320 from light source 314 reflects off of the bottom surface 105 of the opposing membrane 104. The distal tip 321 reflects the reflected light back towards the opposing membrane 104. The light is reflected multiple times between the distal tip 321 and the bottom surface 105 of the opposing membrane 104. The FPI 322 is most effective when the bottom surface 105 of the membrane 104 and the distal tip 321 have smooth surfaces that are parallel to one another. As a result, multiple light beams are produced within the cavity 110 that can interfere with one another, resulting in multiple interfering light rays. The FPI 322 outputs a light signal via the fiber optical cable 320 to coupler 318. The light signal includes the phase information from the multiple interfering light rays, which is indicative of characteristics of the vibrations of the opposing membrane 104.
Each tunable filter 326 serves as a reference interferometer. It acts as a differential interferometer for assisting in noise cancellation. It has an adjustable optical path difference Lr, which can be obtained as Lr=2nL, where L is the cavity length of the reference Fabry Perot cavity and n is the refractive index of the cavity material. Here, n is adjustable by applying voltages to the tunable filter, which can thus change the Lr. The optical path difference Lr can be adjusted to achieve maximum sensitivity of the acoustic sensor system 100. Exemplary Equation 1 describes optimization of the optical path difference (OPD), Ls−Lr for m=0, ±1, ±2 . . . , wherein m is selectable in accordance with the application the acoustic sensor system 100 is used for. Ls in Equation (1) is the optical path difference of the sensing interferometer, which can be obtained as Ls=2nL0, where L0 is the cavity length of the Fabry Perot cavity (which is the distance between the membrane 104 and the fiber tip 221) and n is the refractive index of the medium in the cavity. Here, for an air cavity, n=1 and thus Ls is twice the cavity length of the Fabry Perot cavity.
Ls−Lr=(2m−1)¼λ (1)
In this exemplary embodiment, it is the differential phase between the sensing interferometer and the reference interferometer that is being measured. Due to the differentiation of the phase signal between the two interferometers, this technique has immunity to wavelength and power fluctuation induced noise, permits a short effective sensing cavity (only several μm), yields a high resolution (˜10−4 nm), and yields a large dynamic range (several tens of wavelength). Therefore, each FPI 322 provides a high performance, low noise optical detection mechanism that describes the movement of the associated membrane 104.
Sensor Design for Dual Optimality
The structure of the directional sensor 102, like that of the Ormia ochracea fly ear, provides dual optimality at a selected working frequency for achieving maximum directional sensitivity (DS) and minimum nonlinearity (NL) in the vicinity of the midline, simultaneously. The dual optimality can be achieved at a range close to the midline. Inspired by the fly ear, the range is chosen as, but not limited to, −30°≦θ≦30° in the current implementation. DS is defined as the derivative of mechanical interaural phase difference (mIPD) with respect to the incident angle θ,
where θ is the incident azimuthal angle. θ is measured with reference to the midline for a one dimensional localization problem, and with reference to the plane which is perpendicular to the line connecting the centers of the active portion of the two membranes 104 and intersecting at the middle point of the connecting line for a 2-D or 3-D localization problem. mIPD is defined as the phase difference between the response of the two membranes 104. Using a lumped model and parameters for the fly ear reported in the literature (See R. Miles et al., Mechanically Coupled Ears for Directional Hearing in the Parasitoid Fly Ormia Ochracea, Journal of the Acoustical Society of America 98, 3059-3070 (1995)), mIPD and DS can be calculated for any azimuth θ or excitation frequency f.
With reference to
In
To achieve such a dual optimality characteristic, suitable contributions from both the rocking and the bending modes are necessary. This is determined by the resonance ration η, where η=fbm/frm, for fbm=the bending mode natural frequency, and frm=the rocking mode natural frequency. In the fly ear studies have shown that η=4.36. It is noted that the resonance ratio η, also described as the coupling strength, is related to the stiffness ratio σ=k3/k1, where k3 is the stiffness of bridge 106 and k1 is the stiffness of membranes 104. The relationship between the η and σ is defined as η2=1+2σ, which is the key non-dimensional structural parameter that determines how strongly the two fly ear membranes are coupled.
As shown in
The dual-optimality can be extended to other applications, including different device sizes or working sound frequencies, not limited to the fly ear's specific size or working sound frequency 5 kHz. Assuming the damping factors are same as the fly ear (0.89 for the rocking mode and 1.23 for the bending mode), an optimization can be conducted to find the combinations of parameters to achieve a similar dual-optimality as the fly ear.
Generation of
Thus, the resonance ratio η can be determined based on the selected working frequency fw and the device size by using the dual optimality design curves shown in
Table 1 shows parameters for three different directional sensors A, B, and the fly's ear, each having a different separation-to-wavelength ratio, χ. As shown in Table 1, frm and fbm are selected for each design using graph 600 shown in
With reference to
Determining Directionality
The processor of signal interpreter device 130 executes a first software module for comparing the output signals that correspond to each of the membranes 104 to generate directionality information (also referred to as directionality cues) about the location and direction of the sound source relative to the directional sensor 102. Directionality information may be generated, for example, by analyzing differences in intensity, timing, and phase of the output signals from the two membranes 104. For example, the ratio of mean-square averages gives the mechanical interaural intensity difference (mIID). Time or phase delay gives mechanical interaural time difference (mITD) or mechanical interaural phase difference (mIPD). The directional cues at various frequencies and azimuth are calibrated experimentally and the calibrated results are used to determine the azimuth θ related to sound source localization. The processor of signal interpreter device 130 executes the first software module for accessing experimental calibration data stored on the storage device 132, using the calibration data to determine the relationship of the mITD and mIID as a function of azimuth θ. and using it as a transfer function to determine the azimuth θ.
Experimental Results
Method and System for Using the Directional Sensor for Sound Localization
With reference to
The controller 1106 controls motor 1104 to rotate platform 1102 about a turning angle α to implement the laterization/localization method that the Ormia Ochracea fly uses. In the vicinity of midline, azimuth range of |θ|≦20°-30°, the controller 1106 controls rotation of the platform 1102 so that the turning angle α is a linear function of the detected azimuth θ. However, outside of the linear range, the controller 1106 controls rotation of the platform 1102 so that the directional sensor 102 is turned by a constant turning angle α to approach the sound source azimuth, i.e., the turning angle α is incremented by a selected constant amount.
More specifically, the processing device of signal interpreter 130 receives two signals output by the two respective photo detectors 128. The processor of signal interpreter device 130 executes first software module for using the received signals output by photo detectors 128 to calculate the phase difference mIPD. The processor of signal interpreter device 130 executes a second software module for accessing experimentally derived Linear Determination Data, which includes calibrated data for various frequencies that correlates directionality information to a relative position of a sound source as the relative position changes, e.g., due to rotation of the sensor generating the directionality information. In the current example the directionality information is mIPD, but it is not limited thereto. The Linear Determination Data indicates a linear range which is range of values of mIPD for which mIPD and the relative position of the sound source have a linear relationship. The Linear Determination Data is stored by storage device 132 shown in
Based on the experiment and simulation investigation, phase difference mIPD is a monotonically increasing or decreasing function of azimuth θ in the range of −90°≦θ≦90° for any sound frequency. The slope of mIPD, i.e., directional DS, approaches zero near the two extreme positions θ=±90°, where the sensor system has no differentiating ability. However, in the vicinity of midline θ=0°, mIPD can be approximated as a linear function of θ. The structural parameters of the fly ear are optimized to maximize the absolute slope and linearity of this linear function.
Derivation of the Linear Determination Data includes using experimental calibration to approximate mIPD by a linear function of θ as mIPD=aθ+b in the pre-defined linear range (e.g. −30°≦θ≦30°) at the working frequency fw, where a is the directional sensitivity, b is the zero offset due to unsymmetrical mechanical structure, midline misalignment, or unbalanced delay in the data acquisition system. Then, the phase difference at the boundary of the linear range can be calculated (mIPDL=a·−30°+b or (mIPDR=a·30°±b), which determines the range of mIPD measurement to deem the sound source inside the linear range or not.
Execution of the second software module further includes setting the turning angle α is set to a constant value, e.g. 20° when it is determined that mIPD is outside the linear range and calculating the true azimuth θ of the sound source using the linear relationship between mIPD and azimuth θ when mIPD is determined to be in the linear range. The processor of signal interpreter device 130 further executes the second software module for calculating a turning angle α that can be used to rotate the directional sensor 102 so that it is oriented at the calculated true azimuth θ.
Through experimental calibration, the mIPD data in the linear range can be curve fitted by a straight line mIPD=aθ+b, where a is the directional sensitivity or slope of the linear curve, and b is the offset at zero azimuth. In sound source localization, if the measured phase difference is equal to mIPD, the angle to turn relative to the midline is calculated by θ=−(mIPD−b)/a. The signal interpreter 130 transmits the turning angle α to the controller 1106 to control rotation of the sensor. This may be repeated until the calculated turning angle α is below a selected threshold.
The first and second software modules each include a series of programmable instructions can be stored on a computer-readable medium accessible by the processor 140, such as RAM, a hard drive, CD, smart card, 3.5″ diskette, etc., for performing the functions disclosed herein and to achieve a technical effect in accordance with the disclosure. The modules may be combined or further divided into additional individual software modules.
Prototype Example
The prototype directional sensor 102 used for generating the experimental data shown in
The vibration modes of the sensor are measured by a Laser Doppler Vibrometer (LDV) machine. The first two resonant frequencies are identified at frm=10.3 kHz and fbm=30 kHz. To measure the directional cues, a single frequency sound is played through a speaker. Photo-detectors 328 output sinusoidal signals that the signal interpreter 130 compares for calculating directionality information, such as mIID, mIPD, and/or mITD.
Sensor Configurations
The directional sensor 102 may include more than two membranes 104.
Each configuration may have different vibration modes which may be determined by modal analysis. Experimentation and modal analysis has revealed that configuration 1302 has two rocking modes and one bending mode. Directionality information provided by the three membrane configurations 1302 and 1304 can be used by signal interpreter device 130 to determine the incident angles of a sound source in two dimensions, including the azimuth θ and the elevation.
When the directional sensor 102 has membranes 104 fashioned in accordance with configuration 1302 or 1304, there are two rocking modes sharing the same frm, Similar to the configuration shown in
The second sensor array 1404 includes multiple directional sensors 102 having two membranes 104 each, and configured in an array on a single plane, with the bridge 106 of one of the directional sensors 102 perpendicular to the bridge 106 of an adjacent directional sensor 102. Directionality information provided by the configurations 1404 can be used by signal interpreter device 130 to localize a sound source in two dimensions, including the azimuth and elevation angles.
It will be appreciated that various of the above-disclosed and other features and functions, or alternatives thereof, may be desirably combined into many other different systems or applications. For example, directional sensors 102 having three or more membranes 104, such as the examples shown in
Claims
1. A sensor system comprising at least one directional sensor, each directional sensor comprising:
- at least two compliant membranes for moving in reaction to an excitation acoustic signal; and
- at least one compliant bridge, each bridge coupled to at least a respective first and second membrane of the at least two membranes for moving in response to movement of the membranes it is coupled to for causing movement of the first membrane to be related to movement of the second membrane when either of the first and second membranes moves in response to excitation by the excitation signal, wherein each directional sensor is provided with a sensor for sensing vibrations of the at least two membranes and circuitry for comparing the sensed vibrations of the at least two membranes for determining directionality information about the location of a sound source of the excitation signal, and thereafter calculate an azimuth angle that describes the location of the sound source relative to a reference.
2. The sensor system according to claim 1, each directional sensor further comprising a substrate and defining at least two cavities, wherein:
- each of the at least two membranes has opposing top and bottom surfaces;
- each membrane of the at least two membranes covers a respective cavity of the at least two cavities with at least a portion of its bottom surface exposed to the cavity; and
- the membrane is coupled to the substrate for remaining positioned to cover the associated cavity when reacting to the excitation acoustic signal.
3. The sensor system according to claim 2, wherein each bridge of the at least one bridge is further coupled to the substrate at a pivot area positioned between the at least first and second membranes.
4. The sensor system according to claim 3, wherein the coupling of the bridge to the substrate allows the bridge to move by at least one of pivoting and bending about the pivot area.
5. The sensor system according to claim 1, wherein the acoustic excitation signal causes the at least two membranes of the directional sensor to move with respect to one another in vibration modes, wherein in an equivalent lumped mechanics model the vibration modes include at least a rocking vibration mode, in which two membranes of the at least two membranes move 180 degrees out of phase, and a bending vibration mode, in which two membranes of the at least two membranes move in phase.
6. The sensor system according to claim 5, wherein:
- d is the distance between corresponding reference points of two membranes of the at least two membranes;
- λss is the wavelength of the excitation acoustic signal; and
- wherein parameters d, λss, frm and fbm are related so that at least one parameter chosen from the group of parameters consisting of d, λss, frm and fbm is selected based on the other parameters of the group of parameters.
7. The sensor system according to claim 6, wherein the determined frm and fbm are selected so that the vibrations of two membranes of the at least two membranes of the directional sensor include contributions from rocking mode and bending mode vibrations in a proportion for achieving maximal directional sensitivity DS and minimal nonlinearity NL approximately at a midline between the two membranes, wherein the midline is a line at the middle of the two membranes that is perpendicular to a line connecting centers of two membranes.
8. The sensor system according to claim 1, wherein the sensor further comprises an encoder which uses optical detection for measuring the displacement of the at least two membranes in response to the excitation acoustic signal.
9. The sensor system according to claim 8, wherein the encoder includes a Fabry-Perot (FP) cavity and an optical fiber tip disposed in the FP cavity and opposing a surface of a membrane of the at least two membranes for measuring a change of light propagation path.
10. The sensor system according to claim 9, further comprising a a low coherence fiber optical interferometer system which includes the encoder and uses light generated by a broadband light source and further includes a reference interferometer having an FP cavity with an adjustable length.
11. The sensor system according to claim 1, wherein each directional sensor is mounted on a rotatable platform and each rotatable platform is provided with:
- means for rotating the platform;
- at least one tangible processor; and
- at least one memory with instructions to be executed by the at least one tangible processor for: accessing experimentally calibrated data that shows a relationship between the directionality information and a position of the sound source, including a range of values for the directionality information when it has a linear relationship with the location of the sound source; comparing the directionality information with the experimentally calibrated data to determine if the sound source is in the linear range; when the sound source is in the linear range, determining a turning angle based on the linear relationship between the directionality information and sound source position described in the experimentally calibrated data; when the sound source is outside the linear range determining the turning angle by setting it to a constant value; and controlling the means for rotating the platform by turning it in accordance with the determined turning angle.
12. The sensor system according to claim 1, wherein the at least two directional sensors are arranged in an array and the sensor system includes processing means for processing directionality information associated with each directional sensor of the array for generating improved directionality information.
13. The sensor system according to claim 12, wherein the improved directionality information includes the location of the sound source in three-dimensional space.
14. The sensor system according to claim 1, wherein the at least two membranes include at least two membranes and the at least one bridge couples all of the at least two membranes so that when each membrane of the at least two membranes is excited, its movement is transmitted by the at least one bridge and affects movement of at least one other membrane of the at least two membranes.
15. The sensor system according to claim 14, wherein when the at least one bridge is excited it pivots about one pivot area.
16. The sensor system according to claim 14, wherein when the at least one bridge is excited it pivots about at least two pivot areas.
17. The sensor system according to claim 1, further comprising means for adjusting compliance of at least one of the at least two membranes and the at least one bridge for tuning the sensor system to operate optimally with the excitation acoustic signal having a selected frequency.
18. The sensor system according to claim 2, wherein a communication path is provided between at least one of:
- two cavities of the at least two cavities for allowing communication of gas between the two cavities; and
- a cavity of the at least two cavities and the ambient environment for allowing for communication of gas between the ambient environment and the cavity.
19. A method for sensing sound and determining directionality information about a location of a sound source of the sound, the method comprising:
- sensing an excitation acoustic signal by at least a first and second membrane which are sufficiently compliant to move in reaction to the excitation acoustic signal;
- vibrating by the at least first and second membranes in response to the sensing;
- coupling the vibrations while pivoting about a fixed pivot area for causing vibrations of the first membrane to be related to vibrations of the second membrane when at least one of the first and second membranes senses the excitation acoustic signal;
- sensing the vibrations of the first and second membranes; and
- comparing the sensed vibrations of the first and second membranes for determining directionality information about the location of a sound source of the excitation acoustic signal, including an angle that describes the location of the sound source relative to a reference.
20. The method according to claim 19, further comprising:
- rotating the first and second membranes;
- controlling the rotating including: accessing experimentally calibrated data that shows a relationship between the directionality information and a position of the sound source, including a range of values for the directionality information when it has a linear relationship with the location of the sound source; comparing the directionality information with the experimentally calibrated data to determine if the sound source is in the linear range; when the sound source is in the linear range, determining a turning angle based on the linear relationship between the directionality information and sound source position described in the experimentally calibrated data; when the sound source is outside the linear range determining the turning angle by setting it to a constant value; and controlling the rotating by rotating in accordance with the determined turning angle.
21. A directional sensor comprising:
- a substrate and defining at least two cavities;
- first and second membranes, each having opposing top and bottom surfaces and coupled to the substrate to cover a respective cavity of the at least two cavities with at least a portion of its bottom surface exposed to the cavity, wherein the first and second membranes are sufficiently compliant for moving in reaction to an excitation signal, yet remain positioned to cover the associated cavity when reacting to the excitation signal; and
- a compliant bridge coupled to the substrate at a pivot area positioned between the at least first and second membranes and further coupled to the first and second membranes for moving in response to movement of either of the first and second membranes, including at least one of pivoting and bending about the pivot area, for causing movement of the first membrane to be related to movement of the second membrane when at least one of the first and second membranes moves in response to excitation by the excitation signal.
22. The directional sensor according to claim 21, each directional sensor further comprising a sensor for sensing vibrations of the first and second membranes and circuitry for comparing the sensed vibrations of the first and second membranes for determining directionality information about the location of a sound source of the excitation signal, including an angle that describes the location of the sound source relative to a reference.
23. A sensor system comprising at least one directional sensor, each directional sensor comprising:
- at least two compliant membranes for moving in reaction to an excitation acoustic signal;
- at least one compliant bridge, each bridge coupled to at least a respective first and second membrane of the at least two membranes for moving in response to movement of the membranes it is coupled to for causing movement of the first membrane to be related to movement of the second membrane when either of the first and second membranes moves in response to excitation by the excitation signal; and
- a substrate and defining at least two cavities, wherein:
- each of the at least two membranes has opposing top and bottom surfaces;
- each membrane of the at least two membranes covers a respective cavity of the at least two cavities with at least a portion of its bottom surface exposed to the cavity; and
- the membrane is coupled to the substrate for remaining positioned to cover the associated cavity when reacting to the excitation acoustic signal.
24. A sensor system comprising at least one directional sensor, each directional sensor comprising:
- at least two compliant membranes for moving in reaction to an excitation acoustic signal; and
- at least one compliant bridge, each bridge coupled to at least a respective first and second membrane of the at least two membranes for moving in response to movement of the membranes it is coupled to for causing movement of the first membrane to be related to movement of the second membrane when either of the first and second membranes moves in response to excitation by the excitation signal;
- wherein the acoustic excitation signal causes the at least two membranes of the directional sensor to move with respect to one another in vibration modes, wherein in an equivalent lumped mechanics model the vibration modes include at least a rocking vibration mode, in which two membranes of the at least two membranes move 180 degrees out of phase, and a bending vibration mode, in which two membranes of the at least two membranes move in phase.
25. The sensor system according to claim 24, wherein the at least two membranes include at least two membranes and the at least one bridge couples all of the at least two membranes so that when each membrane of the at least two membranes is excited, its movement is transmitted by the at least one bridge and affects movement of at least one other membrane of the at least two membranes.
26. The sensor system according to claim 24, wherein when the at least one bridge is excited it pivots about one pivot area.
27. The sensor system according to claim 24, wherein when the at least one bridge is excited it pivots about at least two pivot areas.
28. The sensor system according to claim 24, further comprising means for adjusting compliance of at least one of the at least two membranes and the at least one bridge for tuning the sensor system to operate optimally with the excitation acoustic signal having a selected frequency.
20030228025 | December 11, 2003 | Hannah |
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Type: Grant
Filed: Mar 11, 2011
Date of Patent: Aug 6, 2013
Patent Publication Number: 20110222708
Assignee: University of Maryland (College Park, MD)
Inventors: Miao Yu (Potomac, MD), Haijun Liu (Greenbelt, MD)
Primary Examiner: Vivian Chin
Assistant Examiner: Paul Kim
Application Number: 13/046,238
International Classification: H04R 3/00 (20060101);